Robotic roller hemming alignment apparatus and method

Abstract

A robotic roller hemming apparatus for hemming an upturned edge of an outer metal panel over a peripheral edge of an inner panel superimposed on the outer panel adjacent the upturned edge includes a hemming roller having a peripheral surface. The peripheral surface includes a hemming portion for pressing the upturned edge of the outer panel and a follower portion juxtaposed the hemming portion. The hemming apparatus also includes a robot hand and a lower die. The robot hand rotatably supports the hemming roller and controls the hemming roller in the direction of motion of the hemming. The lower die has a hemming surface for supporting the outer metal panel thereon and a two dimensional guide for guiding the hemming roller along two axes relative to the hemming motion, thereby maintaining axial positioning of the hemming roller independent of the robot hand.

1 . Robotic roller hemming apparatus for hemming an upturned edge of an outer metal panel over a peripheral edge of an inner panel superimposed on the outer panel adjacent the upturned edge, the roller hemming apparatus comprising: 
 a hemming roller having a peripheral surface including a hemming portion for pressing the upturned edge of the outer panel and a follower portion juxtaposed said hemming portion;    a robot hand rotatably supporting said hemming roller and controlling the hemming roller in the direction of motion of the hemming; and    a lower die having a hemming surface for supporting the outer metal panel thereon and a two dimensional guide for guiding said hemming roller along two axes relative to the hemming motion, thereby maintaining axial positioning of the hemming roller independent of the robot hand.    
   
   
       2 . Robotic roller hemming apparatus as in  claim 1  wherein said hemming roller follower portion is a V-shaped groove and said two dimensional guide is an edge having a complementary wedge shaped section around said lower die.  
   
   
       3 . Robotic roller hemming apparatus as in  claim 1  wherein said hemming roller follower portion is a groove having an arcuate cross section and said two dimensional guide is a complementary radius around an edge of said lower die, whereby said hemming roller can be rotated while maintaining directional stability in two directions independent of robotic positioning control.  
   
   
       4 . A method for roller hemming an upturned edge of an outer metal panel over a peripheral edge of an inner panel superimposed on the outer panel adjacent the upturned edge, the method comprising the steps of: 
 providing a hemming roller having a peripheral surface including a hemming portion for pressing the upturned edge of the outer panel and a follower portion juxtaposed said hemming portion;    providing a robot hand rotatably supporting said hemming roller and controlling the hemming roller in the direction of motion of the hemming; and    providing a lower die having a hemming surface for supporting the outer metal panel thereon and a two dimensional guide for guiding said hemming roller along two axes relative to the hemming motion, thereby maintaining axial positioning of the hemming roller independent of the robot hand.